CN102662410B - Moving target tracking oriented vision system and control method thereof - Google Patents
Moving target tracking oriented vision system and control method thereof Download PDFInfo
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- CN102662410B CN102662410B CN201210166740.3A CN201210166740A CN102662410B CN 102662410 B CN102662410 B CN 102662410B CN 201210166740 A CN201210166740 A CN 201210166740A CN 102662410 B CN102662410 B CN 102662410B
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Abstract
The invention discloses a moving target tracking oriented vision system and a control method thereof, and relate to the field of vision systems. A camera picks up images in real time, the images are transmitted to a vehicular computer and processed by the same, and the vehicular computer acquires motion direction, distance and speed of a platform and transmits the same to a control circuit. The control circuit converts the motion direction into voltage signals, the speed into square wave signals and the distance into control time. Within the control time, the voltage signals and the square wave signals are transmitted to a drive circuit connected with a step motor. The drive circuit converts the voltage signals and the square wave signals into drive signals and controls the step motor to rotate through the drive signals. By the aid of the moving target tracking oriented vision system and the control method thereof, a tracked target can be kept within an effective observation range of a mobile robot, and thereby the target can be tracked correctly.
Description
Technical field
The present invention relates to vision system field, relate in particular to a kind of vision system towards tracking moving object and control method thereof.
Background technology
At present, it is practical that mobile robot has progressively moved towards, and is especially equipped with the mobile robot of vision sensor, can obtain abundant external information, to assist it to complete tracking, to identify, build figure and other task by the image gathering.Because most of mobile robots' design reasons, mobile robot's body height is not high.So the vision sensor on mobile robot is respond well when tracking altitude is no more than the target of robot body.
In realizing process of the present invention, in discovery prior art, at least there is following shortcoming and defect in inventor:
Due to the variation of tracking range and height, tracking target may exceed the range of observation of robot, can lose the situation of tracking target while following the tracks of in robot, easily causes trail-and-error.
Summary of the invention
The invention provides a kind of vision system towards tracking moving object and control method thereof, the present invention, according to the variation of tracking range and height, has realized the Height Adjustable of vision system, has expanded the range of observation of robot, reduced the situation of losing tracked target, described below:
A kind of vision system towards tracking moving object, comprise: The Cloud Terrace support, on described The Cloud Terrace support, be arranged with slide rail in parallel, on the optional position of described slide rail, be provided with platform, on described platform, be provided with video camera installation position, described video camera is provided with video camera on installation position, in described The Cloud Terrace frame bottom, be provided with stepper motor erecting frame, on described stepper motor erecting frame, be provided with stepper motor, on the axle of described stepper motor, be provided with driving wheel, described The Cloud Terrace props up top of the trellis and is provided with belt fast pulley, described belt fast pulley and described driving wheel pass through belt gear, described belt is fixedly connected with described platform, described video camera real-time image acquisition, and by described image transmitting to truck-mounted computer, described truck-mounted computer is processed described image, obtain the direction of motion of described platform, distance and speed, and by described direction of motion, described distance and described speed are transferred to control circuit, described control circuit is converted to voltage signal by described direction of motion, described rate conversion is square-wave signal, described distance is converted to the control time, within the described control time, described voltage signal is transferred to the driving circuit being connected with described stepper motor with described square-wave signal, described driving circuit is converted to driving signal by described voltage signal and described square-wave signal, by the rotation of stepper motor described in described driving signal controlling.
Described control circuit comprises: the first power supply access socket, control chip, conversion chip and serial ports;
Described serial ports receives direction of motion, distance and the speed of the described platform of described truck-mounted computer transmission, by described conversion chip, direction of motion, distance and speed after conversion are transferred to described control chip, described control chip by the direction of motion after described conversion be converted to voltage signal, rate conversion is square-wave signal, distance is converted to the control time, within the described control time, described voltage signal and described square-wave signal is transferred to the described driving circuit being connected with described stepper motor; Described the first power supply access socket provides working power for described control chip and described conversion chip.
Described driving circuit comprises: second source access socket, driving chip and driving interface;
Described driving chip receives described voltage signal and the described square-wave signal that described control circuit sends, described voltage signal and described square-wave signal are converted to driving signal, by described driving interface, described driving signal is transferred to described stepper motor, by the rotation of stepper motor described in described driving signal controlling; Described second source access socket provides working power for described driving chip.
Said method comprising the steps of:
(1) described truck-mounted computer is set up image coordinate system uo on described image
0v and imaging plane coordinate system xo
1y;
(2) described truck-mounted computer is identified tracked target on described image, obtains the center (u of described tracked target
t, v
t), wherein, v
k=v
t-v
0, y
k=v
kd
y, v is the side-play amount of described tracked target under described image coordinate system, y is the side-play amount of described tracked target under described imaging plane coordinate system;
(3) described truck-mounted computer by described tracked target the side-play amount y under described imaging plane coordinate system
kobtain the direction of motion of described platform;
(4) described truck-mounted computer by described tracked target the side-play amount y under described imaging plane coordinate system
k, described video camera focal distance f and described camera lens to the distance l of described tracked target, obtain the move distance Δ h of described platform, Δ h=yl/f;
(5) described truck-mounted computer by continuous three described tracked targets the side-play amount under described imaging plane coordinate system obtain the speed v of described platform
p;
(6) described truck-mounted computer is by the direction of motion of described platform, described distance, delta h and described speed v
pbe transferred to described control circuit;
(7) described control circuit is converted to described voltage signal, described speed v by described direction of motion
pbe converted to described square-wave signal, described move distance Δ h is converted to the described control time.
Described image coordinate system uo
0v is specially: the top left corner pixel point of described image is defined as true origin o
0, coordinate axis is usingd pixel as unit length;
Described imaging plane coordinate system xo
1y is specially: true origin o
1be the optical axis of camera lens and the intersection point of described image, the coordinate of fastening in described image coordinate is (u
0, v
0), the physical size of each pixel on x axle and y axle is dx and dy, the pass of two coordinate systems is:
The described truck-mounted computer speed that the side-play amount y under described imaging plane coordinate system obtains described platform by continuous three described tracked targets specifically comprises:
1) obtain described tracked target under described imaging coordinate system along the axial speed y of y
kvwith acceleration y
ka;
y
kv=(y
k-y
k-1)/Δt，y
ka=(y
kv-(y
k-1-y
k-2)/Δt)/Δt，
Wherein, y
k-2, y
k-1and y
kbe respectively described tracked target at k-2 constantly, k-1 constantly and be engraved in the axial side-play amount of y under described imaging plane coordinate system, y during k
kvwhile being described tracked target k, be engraved under described imaging plane coordinate system along the axial movement velocity of y; y
kathe acceleration that described tracked target k moves along y direction of principal axis constantly, Δ t=pt
c, t
cimage acquisition interval for described video camera; P is setup parameter;
2) obtain the speed v of described platform
p;
V
p=k
1Δ h+k
2y
kv+ k
3y
ka, k
1=k
vl/f, k
2=l/f, k
3=l Δ t/f, k
vfor adjustable parameter.
Describedly described move distance Δ h be converted to the described control time be specially:
Obtain the driving frequency f of described stepper motor
swith motion step number S, by described driving frequency f
sobtain described control time t with described motion step number S
k;
Wherein, f
s=| v
p/ S
0|, S=| Δ h/S
0|, S
0often the make a move height of corresponding described lifting platform of described stepper motor, S
0=ω
0* r, ω
0for the stepping angle of described stepper motor, the radius that r is described driving wheel, t
k=S/f
s.
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of vision system towards tracking moving object and control method thereof, on mobile robot platform, installed surface is to the vision system of tracked target, and mobile robot is by driving the stepper motor of installing on The Cloud Terrace support to reach the object of controlling camera lifting; In use, when tracked target position changes to longitudinally effective range of observation that will leave mobile robot, by video camera and truck-mounted computer, obtain direction of motion, speed and the distance of platform, and by direction of motion and rate conversion, be driving signal by control circuit and driving circuit, will be apart from being converted to the control time, within the control time, drive the rotation of signal controling stepping motor, tracked target is remained in effective range of observation of mobile robot, thereby reach the object of accurate pursuit movement target.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of vision system towards tracking moving object provided by the invention;
Fig. 2 is the side view of The Cloud Terrace provided by the invention;
Fig. 3 is the schematic diagram of control circuit provided by the invention;
Fig. 4 is the schematic diagram of driving circuit provided by the invention;
Fig. 5 is the schematic diagram of image coordinate system provided by the invention and imaging plane coordinate system;
Fig. 6 is the calculating schematic diagram of move distance provided by the invention;
Fig. 7 is the process flow diagram of a kind of control method towards tracking moving object provided by the invention.
In accompanying drawing, the list of parts of each label representative is as follows:
1: The Cloud Terrace support; 2: slide rail;
3: platform; 4: belt fast pulley;
5: driving wheel; 6: belt;
7: stepper motor erecting frame; 8: stepper motor;
9: video camera installation position; 10: video camera;
11: truck-mounted computer; 12: control circuit;
13: driving circuit; 121: the first power supply access sockets;
122: control chip; 123: conversion chip;
124: serial ports; 131: second source access socket;
132: drive chip; 133: drive interface.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
For the variation with height according to tracking range, realize the Height Adjustable of vision system, expand the range of observation of robot, reduced the situation of losing tracked target, the embodiment of the present invention provides a kind of vision system towards tracking moving object and control method thereof, referring to Fig. 1 and Fig. 2, described below:
A kind of vision system towards tracking moving object, comprise: The Cloud Terrace support 1, on The Cloud Terrace support 1, be arranged with slide rail 2 in parallel, on the optional position of slide rail 2, be provided with platform 3, on platform 3, be provided with video camera installation position 9, on video camera installation position 9, be provided with video camera 10, in The Cloud Terrace support 1 bottom, be provided with stepper motor erecting frame 7, on stepper motor erecting frame 7, be provided with stepper motor 8, on the axle of stepper motor 8, be provided with driving wheel 5, The Cloud Terrace support 1 top is provided with belt fast pulley 4, on belt fast pulley 4 and driving wheel 5, be socketed with belt 6, belt 6 is fixedly connected with platform 3, video camera 10 real-time image acquisitions, and by image transmitting to truck-mounted computer 11, 11 pairs of images of truck-mounted computer are processed, obtain the direction of motion of platform 3, distance and speed, and by direction of motion, distance and speed are transferred to control circuit 12, control circuit 12 is converted to voltage signal by direction of motion, rate conversion is square-wave signal, distance is converted to the control time, voltage signal and square-wave signal are transferred to the driving circuit 13 being connected with stepper motor 8 within the control time, driving circuit 13 is converted to driving signal by voltage signal and square-wave signal, by driving the rotation of signal controling stepping motor 8.
Wherein, referring to Fig. 3, control circuit 12 comprises: the first power supply access socket 121, control chip 122, conversion chip 123 and serial ports 124;
Wherein, during specific implementation, the embodiment of the present invention does not limit the model of control chip 122 and conversion chip 123, and the control chip 122 in the embodiment of the present invention be take ATmega128L chip and described as example.
Wherein, referring to Fig. 4, driving circuit 13 comprises: second source access socket 131, driving chip 132 and driving interface 133;
The voltage signal and the square-wave signal that drive chip 132 reception control circuits 12 to send, be converted to driving signal by voltage signal and square-wave signal, by driving interface 133 that driving signal is transferred to stepper motor 8, by driving the rotation of signal controling stepping motor 8; Second source access socket 131 is for driving chip 132 that working power is provided.
Wherein, during specific implementation, the embodiment of the present invention is to driving the model of chip 132 not limit, and the driving chip 132 in the embodiment of the present invention be take THB6064H chip and described as example.
Referring to Fig. 5, Fig. 6 and Fig. 7, a kind of control method towards tracking moving object, the method comprises the following steps:
101: truck-mounted computer 11 is set up image coordinate system uo on image
0v and imaging plane coordinate system xo
1y;
Wherein, image coordinate system uo
0in v, the top left corner pixel point of image is defined as to true origin o
0, coordinate axis is usingd pixel as unit length.
Wherein, imaging plane coordinate system xo
1true origin o in y
1be the optical axis of camera lens and the intersection point of image, x and y are the imaging plane coordinate system coordinates with physical unit tolerance; o
1the coordinate of fastening in image coordinate is (u
0, v
0), the physical size of each pixel on x axle and y axle is dx and dy, the pass of two coordinate systems is:
102: truck-mounted computer 11 is identified tracked target on image, obtain the k center (u of tracked target constantly
t, v
t);
Wherein, v
k=v
t-v
0, y
k=v
kd
y, v
kfor k constantly tracked target under image coordinate system along the axial side-play amount of v, y
kfor tracked target under imaging plane coordinate system along the axial side-play amount of y.
Wherein, during specific implementation, the embodiment of the present invention goes out tracked target by a rectangle circle, the center (u using the center of rectangle frame as tracked target
t, v
t), can also adopt additive method to determine the center of tracked target, the embodiment of the present invention does not limit this.
103: truck-mounted computer 11 is engraved under imaging plane coordinate system along the axial side-play amount y of y during by tracked target k
kobtain the direction of motion of platform 3;
Wherein, side-play amount y
kvalue for just showing platform 3, move upward, value shows that for negative platform 3 moves downward.
104: truck-mounted computer 11 is the side-play amount y under imaging plane coordinate system by tracked target
k, video camera 10 focal distance f and camera lens to the distance l of tracked target, obtain the move distance Δ h of platform 3;
Wherein, Δ h=y
kl/f.
During specific implementation, the embodiment of the present invention is measured camera lens to the distance l of tracked target by laser range finder, can also adopt additive method to determine that camera lens is to the distance of tracked target, and the embodiment of the present invention does not limit this.
105: truck-mounted computer 11 by continuous three tracked targets the side-play amount under imaging plane coordinate system obtain the speed v of platform 3
p;
Wherein, this step is specially:
1) obtain tracked target under imaging coordinate system along the axial speed y of y
kvwith acceleration y
ka;
Side-play amount y by the tracked target obtaining for continuous three times under imaging plane coordinate system
k-2, y
k-1and y
kcalculate the movement velocity y of tracked target in imaging plane coordinate system
kvand acceleration y
ka.
y
kv=(y
k-y
k-1)/Δt，y
ka=(y
kv-(y
k-1-y
k-2)/Δt)/Δt，
Wherein, y
k-2and y
k-1be respectively tracked target at k-2 constantly and be engraved in during k-1 under imaging plane coordinate system along the axial side-play amount of y, wherein, the value of k is more than or equal to 1, at k=1 moment y
k-2=0, y
k-1=0, at k=2 moment y
k-2=0, y
kvbe tracked target k constantly under imaging plane coordinate system along the axial movement velocity of y; y
kathe acceleration that tracked target k moves along y direction of principal axis constantly, Δ t=pt
c, t
cimage acquisition interval for video camera 10; P is setup parameter, and presentation video upgrades p frame.
Wherein, when working control, can be according to actual conditions, the every renewal of image p(parameter is adjustable) frame, the control command that truck-mounted computer 11 issues is upgraded once.
2) obtain the speed v of platform 3
p.
Wherein, this step is specially:
v
p=k
1Δh+k
2y
kv+k
3y
ka，k
1=l/(ft
D)，k
2=l/f，k
3=lΔt/f。T
dfor adjustable parameter, according to tracer request in practical application, to set, the embodiment of the present invention does not limit this.
106: truck-mounted computer 11 is by the direction of motion of platform 3, distance, delta h and speed v
pbe transferred to control circuit 12;
107: control circuit 12 by direction of motion be converted to voltage signal, rate conversion is square-wave signal, and move distance Δ h is converted to control time t
k.
Wherein, move distance Δ h is converted to control time t
kbe specially:
Obtain the driving frequency f of stepper motor 8
swith motion step number S, by driving frequency f
ss obtains control time t with motion step number
k.
Wherein, f
s=| v
p/ S
0|, S=| Δ h/S
0|, S
0often the make a move height of corresponding platform 3 liftings of stepper motor 8, S
0=ω
0* r, ω
0for the stepping angle of stepper motor 8, r is the radius of driving wheel 5, t
k=S/f
s.
Wherein, control circuit 12 by direction of motion be converted to voltage signal, rate conversion is that square-wave signal is known in those skilled in the art, the embodiment of the present invention does not repeat them here.
Wherein, in practical operation, when also at control time t
kin, truck-mounted computer 11 has issued new control command, to control time t
kupgrade, at new control time t
kin, stepper motor 8 is carried out new action.
Wherein, driving circuit 13 is converted to voltage signal and square-wave signal that to drive signal be known in those skilled in the art, and the embodiment of the present invention does not repeat them here.
In sum, the embodiment of the present invention provides a kind of vision system towards tracking moving object and control method thereof, on mobile robot platform, installed surface is to the vision system of tracking moving object, and mobile robot is by driving the stepper motor of installing on The Cloud Terrace support to reach the object of controlling camera lifting; In use, when tracked target position changes to longitudinally effective range of observation that will leave mobile robot, by video camera and truck-mounted computer, obtain direction of motion, speed and the distance of platform, and by direction of motion and rate conversion, be driving signal by control circuit and driving circuit, will be apart from being converted to the control time, within the control time, drive the rotation of signal controling stepping motor, tracked target is remained in effective range of observation of mobile robot, thereby reach the object of accurate pursuit movement target.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. the vision system towards tracking moving object, comprise: The Cloud Terrace support, it is characterized in that, on described The Cloud Terrace support, be arranged with slide rail in parallel, on the optional position of described slide rail, be provided with platform, on described platform, be provided with video camera installation position, described video camera is provided with video camera on installation position, in described The Cloud Terrace frame bottom, be provided with stepper motor erecting frame, on described stepper motor erecting frame, be provided with stepper motor, on the axle of described stepper motor, be provided with driving wheel, described The Cloud Terrace props up top of the trellis and is provided with belt fast pulley, described belt fast pulley and described driving wheel pass through belt gear, described belt is fixedly connected with described platform, described video camera real-time image acquisition, and by described image transmitting to truck-mounted computer, described truck-mounted computer is processed described image, obtain the direction of motion of described platform, distance and speed, and by described direction of motion, described distance and described speed are transferred to control circuit, described control circuit is converted to voltage signal by described direction of motion, described rate conversion is square-wave signal, described distance is converted to the control time, within the described control time, described voltage signal is transferred to the driving circuit being connected with described stepper motor with described square-wave signal, described driving circuit is converted to driving signal by described voltage signal and described square-wave signal, by the rotation of stepper motor described in described driving signal controlling.
2. a kind of vision system towards tracking moving object according to claim 1, is characterized in that, described control circuit comprises: the first power supply access socket, control chip, conversion chip and serial ports;
Described serial ports receives direction of motion, distance and the speed of the described platform of described truck-mounted computer transmission, by described conversion chip, direction of motion, distance and speed after conversion are transferred to described control chip, described control chip by the direction of motion after described conversion be converted to voltage signal, rate conversion is square-wave signal, distance is converted to the control time, within the described control time, described voltage signal and described square-wave signal is transferred to the described driving circuit being connected with described stepper motor; Described the first power supply access socket provides working power for described control chip and described conversion chip.
3. a kind of vision system towards tracking moving object according to claim 1, is characterized in that, described driving circuit comprises: second source access socket, driving chip and driving interface;
Described driving chip receives described voltage signal and the described square-wave signal that described control circuit sends, described voltage signal and described square-wave signal are converted to driving signal, by described driving interface, described driving signal is transferred to described stepper motor, by the rotation of stepper motor described in described driving signal controlling; Described second source access socket provides working power for described driving chip.
4. for a control method for a kind of vision system towards tracking moving object claimed in claim 1, it is characterized in that, said method comprising the steps of:
(1) described truck-mounted computer is set up image coordinate system uo on described image
0v and imaging plane coordinate system xo
1y;
Wherein, described image coordinate system uo
0v is specially: the top left corner pixel point of described image is defined as true origin o
0, coordinate axis is usingd pixel as unit length;
Described imaging plane coordinate system xo
1y is specially: true origin o
1be the optical axis of camera lens and the intersection point of described image, the coordinate of fastening in described image coordinate is (u
0, v
0), the physical size of each pixel on x axle and y axle is dx and dy, the pass of two coordinate systems is:
(2) described truck-mounted computer is identified tracked target on described image, obtains described tracked target at k center (u constantly
t, v
t), wherein, v
k=v
t-v
0, y
k=v
kdy, v
kfor described tracked target under described image coordinate system along the axial side-play amount of v, y
kfor described tracked target under described imaging plane coordinate system along the axial side-play amount of y;
(3) when described truck-mounted computer is by described tracked target k, be engraved under described imaging plane coordinate system along the axial side-play amount y of y
kobtain the direction of motion of described platform;
(4) described truck-mounted computer by described tracked target the side-play amount y under described imaging plane coordinate system
k, described video camera focal distance f and described camera lens to the distance l of described tracked target, obtain the move distance Δ h of described platform, Δ h=y
kl/f;
(5) described truck-mounted computer by continuous three described tracked targets the side-play amount under described imaging plane coordinate system obtain the speed v of described platform
p;
(6) described truck-mounted computer is by the direction of motion of described platform, described distance, delta h and described speed v
pbe transferred to described control circuit;
(7) described control circuit is converted to described voltage signal, described speed v by described direction of motion
pbe converted to described square-wave signal, described move distance Δ h is converted to the described control time;
Wherein, step (5) is specially:
1) obtain described tracked target under described imaging coordinate system along the axial speed y of y
kvwith acceleration y
ka;
y
kv=(y
k-y
k-1)/Δt，y
ka=(y
kv-(y
k-1-y
k-2)/Δt)/Δt，
Y
k-2, y
k-1and y
kbe respectively described tracked target at k-2 constantly, k-1 constantly and be engraved in the axial side-play amount of y under described imaging plane coordinate system, y during k
kvwhile being described tracked target k, be engraved under described imaging plane coordinate system along the axial movement velocity of y; y
kathe acceleration that described tracked target k moves along y direction of principal axis constantly, Δ t=pt
c, t
cimage acquisition interval for described video camera; P is setup parameter;
2) obtain the speed v of described platform
p;
V
p=k
1Δ h+k
2y
kv+ k
3y
ka, k
1=l/ft
d, k
2=l/f, k
3=l Δ t/f, t
dfor adjustable parameter;
Wherein, described move distance Δ h being converted to the described control time is specially:
Obtain the driving frequency f of described stepper motor
swith motion step number S, by described driving frequency f
sobtain described control time t with described motion step number S
k;
Wherein, f
s=| v
p/ S
0|, S=| Δ h/S
0|, S
0often the make a move height of corresponding described lifting platform of described stepper motor, S
0=ω
0* r, ω
0for the stepping angle of described stepper motor, the radius that r is described driving wheel, t
k=S/f
s.
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2012
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